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Le département rob

Robotique

Le département robotique développe un champ de recherche pluri-thématique portant sur le développement de fonctions de perception, de décision, de génération de mouvements et de communication des robots, destinées à être testées dans des environnements réels non maîtrisés. Il est doté d’une plateforme robotique très complète.


responsable

Philippe Soueres

Le département est structuré en trois équipes de recherche qui travaillent en synergie et dont les domaines d’expertise sont complémentaires.

  • L’équipe « Gepetto », spécialiste du mouvement des systèmes anthropomorphes, a trois objets de recherche: le robot humanoïde, le mannequin numérique et l’Homme. Son expertise est centrée sur la planification, la génération et la commande du mouvement de ces systèmes poly-articulés instables. Elle mène une activité interdisciplinaire à l’intersection de la robotique, des neurosciences et de la biomécanique avec un intérêt particulier pour la conception de muscles artificiels.
  • L’activité de l’équipe « Robotique, action et perception » (RAP), experte en traitement du signal, est centrée sur le lien «perception-action», avec un focus sur la vision et l’audition. Ses axes de recherche sont : la détection, la segmentation, l’identification et le suivi de personnes et d’objets; la perception et la commande en environnement dynamique et l’élaboration de capteurs intégrés. Les défis à relever sont la prise en compte de la variabilité de l’environnement et les contraintes d’embarquabilité et de calcul en temps-réel. L’équipe développe des solutions originales mettant l’accent sur la fusion probabiliste des données.
  • L’équipe « Robotique et ses interactions » (RIS), focalise son expertise sur les interactions avec l’Homme et l’environnement. Ses activités couvrent l’architecture des systèmes, le contrôle et les interactions physiques, la planification temporelle et le raisonnement, la planification de mouvement et l’apprentissage. Les méthodes et algorithmes développés sont exploités dans trois principaux domaines: la robotique terrestre et aérienne, avec un point fort sur la coopération multi-robots et la modélisation de l’environnement, la robotique cognitive et d’interaction et le mouvement moléculaire.

Ces trois équipes entretiennent des collaborations étroites entre elles, ainsi qu’avec d’autres équipes du laboratoire rattachées à des départements scientifiques différents. Leurs travaux sont conduits dans le cadre d’un grand nombre de projets européens (ESA, FP7, H2020, EraNet, ERC, etc.), nationaux et régionaux, et des collaborations industrielles directes. Les applications concernent un large spectre de domaines: agriculture, transport, usine du futur, robotique de service, domotique et intelligence ambiante, réalité virtuelle et animation, surveillance et sécurité civile, exploration planétaire et espace, biochimie,...

Un grand nombre de logiciels développés par les chercheurs du département sont distribués en libre accès (GenoM3, GDHE, OpenPRS, Jafar, HPP, SoT, Pinocchio...).Texte à modifier dans l’interface d’édition: champ 'objectifs' de la page Departement.

NOS DOMAINES DE

RECHERCHE ET APPLICATIONS

Les trois équipes du département entretiennent des collaborations étroites entre elles, ainsi qu’avec d’autres équipes du laboratoire rattachées à des départements scientifiques différents.

LES CHAMPS DISCIPLINAIRES

COUVERTS PAR NOTRE DÉPARTEMENT

LES ÉQUIPES DU DÉPARTEMENT

Le département compte trois équipes de recherche. Robotique et Interactions (RIS), Robotique, Action, Perception (RAP) et GEPETTO.

Le robot humanoïde Pyrène

gepetto

Olivier Stasse

L’activité de recherche de l’équipe Gepetto est centrée sur l’analyse et la génération de mouvement des systèmes anthropomorphes. Créée en 2006, elle est rapidement devenue l’une des équipes phares en robotique humanoïde, unanimement reconnue pour son expertise en génération de …

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ImageRAP

rap

Patrick Danes

Les recherches de l'équipe RAP concernent la conception, le prototypage, l'implémentation et l'évaluation d'algorithmes pour : la perception visuelle ; la commande et la navigation référencées capteur ; la manipulation mobile interactive ; la modélisation et la fusion de données …

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Robotic platforms

ris

Simon Lacroix

L'équipe "Robotique et InteractionS" (RIS) développe un projet de recherche portant essentiellement sur les machines autonomes intégrant des capacités de perception, de raisonnement, d'apprentissage, d'action et de réaction.

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Dernières Publications

2024

Articles dans une revue

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, et al.. Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access, 2024, 12, pp.689 - 698. ⟨10.1109/access.2023.3345157⟩. ⟨hal-04730351⟩

Gaël Loubet, Alassane Sidibe, Philippe Herail, Alexandru Takacs, Daniela Dragomirescu. Autonomous Industrial IoT for Civil Engineering Structural Health Monitoring. IEEE Internet of Things Journal, 2024, 11 (5), pp.8921 - 8944. ⟨10.1109/JIOT.2023.3321958⟩. ⟨hal-04247382⟩

Eliott Lumet, Thomas Jaravel, Mélanie C. Rochoux, Olivier Vermorel, Simon Lacroix. Assessing the Internal Variability of Large-Eddy Simulations for Microscale Pollutant Dispersion Prediction in an Idealized Urban Environment. Boundary-Layer Meteorology, 2024, 190 (2), pp.9. ⟨10.1007/s10546-023-00853-7⟩. ⟨hal-04425945v2⟩

Thibault Marsan, Yann Landon, Pablo Navarro, Bruno Watier. Performance criteria for para-athletes in fencing. Sports Biomechanics, 2024, pp.1-10. ⟨10.1080/14763141.2023.2294724⟩. ⟨hal-04383335⟩

Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, et al.. Contact Models in Robotics: a Comparative Analysis. IEEE Transactions on Robotics, 2024, 40, pp.3716 - 3733. ⟨10.1109/TRO.2024.3434208⟩. ⟨hal-04067291v3⟩

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics. IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10113-10120. ⟨hal-04636547⟩

Javier González-Delgado, Pau Bernadó, Pierre Neuvial, Juan Cortés. Weighted families of contact maps to characterize conformational ensembles of (highly-)flexible proteins. Bioinformatics, 2024, 40 (11), pp.btae627. ⟨10.1093/bioinformatics/btae627⟩. ⟨hal-04749226⟩

Ali Srour, Antonio Franchi, Paolo Robuffo Giordano, Marco Cognetti. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty. IEEE Robotics and Automation Letters, 2024, pp.1-8. ⟨10.1109/LRA.2024.3519857⟩. ⟨hal-04816507⟩

Nathalie Tarrat, J. Christian Schön, Juan Cortés. Dependence of lactose adsorption on the exposed crystal facets of metals: a comparative study of gold, silver and copper. Physical Chemistry Chemical Physics, 2024, 31, pp.21134-21146. ⟨10.1039/D4CP01559B⟩. ⟨hal-04664324⟩

Maxime Sabbah, Bruno Watier, Raphael Dumas, Maxime Gautier, Vincent Bonnet. Concurrent validity of embedded solutions for whole body dynamics analysis. IEEE Sensors Journal, In press, ⟨10.1109/JSEN.2024.3485475⟩. ⟨hal-04748281⟩

Z. Pomarat, Thibault Marsan, A. Faupin, Y. Landon, Bruno Watier. Wheelchair caster power losses due to rolling resistance on sports surfaces. Disability and Rehabilitation: Assistive Technology, 2024, pp.1-7. ⟨10.1080/17483107.2024.2406450⟩. ⟨hal-04725578⟩

Valentin Milia, Nathalie Tarrat, Christophe Zanon, Juan Cortés, Mathias Rapacioli. Exploring Molecular Energy Landscapes by Coupling the DFTB Potential with a Tree-Based Stochastic Algorithm: Investigation of the Conformational Diversity of Phthalates. Journal of Chemical Information and Modeling, 2024, 64 (8), pp.3290-3301. ⟨10.1021/acs.jcim.3c01981⟩. ⟨hal-04517230⟩

Olga Napolitano, Marco Cognetti, Lucia Pallottino, Dimitrios Kanoulas, Paolo Salaris, et al.. Active Sensing for Data Quality Improvement in Model Learning. IEEE Control Systems Letters, 2024, pp.1-1. ⟨10.1109/LCSYS.2024.3410152⟩. ⟨hal-04226725v2⟩

Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea del Prete, et al.. Co-designing versatile quadruped robots for dynamic and energy-efficient motions. Robotica, 2024, 42 (6), pp.2004-2025. ⟨10.1017/S0263574724000730⟩. ⟨hal-04162737⟩

Gautier Hattenberger, Titouan Verdu, Nicolas Maury, Pierre Narvor, Rafael Bailon-Ruiz, et al.. Experimental UAV Flights to Collect Data Within Cumulus Clouds. IEEE Transactions on Field Robotics, 2024, 1, pp.231-248. ⟨10.1109/TFR.2024.3478216⟩. ⟨hal-04791719v2⟩

Samuel Beaussant, Sebastien Lengagne, Benoit Thuilot, Olivier Stasse. Towards Zero-Shot Cross-Agent Transfer Learning via Latent-Space Universal Notice Network. Robotics and Autonomous Systems, In press, 184, pp.104862. ⟨10.1016/j.robot.2024.104862⟩. ⟨hal-04801176⟩

Antoine Rouxel, Antoine Monmayrant, Simon Lacroix, Henri Camon, Sébastien Lopez. Accurate ray-tracing optical model for coded aperture spectral snapshot imagers. Applied optics, 2024, 63 (7), pp.1828. ⟨10.1364/AO.515775⟩. ⟨hal-04474346⟩

H Bildstein, Viviane Cadenat, Adrien Durand-Petiteville. Visual Predictive Control for Mobile Manipulator: Visibility, Manipulability, and Stability. Robotics and Autonomous Systems, 2024, 180, ⟨DOI: 10.1016/j.robot.2024.104754⟩. ⟨hal-04812155⟩

Livres

Malik Ghallab, Dana Nau, Paolo Traverso. Acting, Planning and Learning. Cambridge University Press, In press. ⟨hal-04750101⟩

Chapitres d’ouvrages

Víctor Fernández Castro, Amandine Mayima, Kathleen Belhassein, Aurélie Clodic. The Role of Commitments in Socially Appropriate Robotics. Technik sozialisieren? / Technology Socialisation?, 10, Springer Berlin Heidelberg, pp.223-248, 2024, Techno:Phil – Aktuelle Herausforderungen der Technikphilosophie, ⟨10.1007/978-3-662-68021-6_11⟩. ⟨hal-04672275⟩

Communications dans un congrès

Emily Holmes, Gaël Loubet, Patrick Danès, Daniela Dragomirescu. Hardware Integration of a Neural Network onto FPGA and its Application to Sound Source Localization. 31st IEEE International Conference on Electronics Circuits and Systems (ICECS), Nov 2024, Nancy, France. ⟨hal-04831805⟩

Fadma Amiche, Adrien Vigné, Aurélie Clodic, Anke M Brock. Conception d'un média d'interaction pour faciliter l'interaction entre un robot et un humain. WACAI ’24 - Proceedings of Workshop sur les “Affects, Compagnons Artificiels et Interactions” (ACAI), Jun 2024, Bordeaux, France. ⟨hal-04596993⟩

Alessia Fusco, Valerio Modugno, Dimitrios Kanoulas, Alessandro Rizzo, Marco Cognetti. Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, France. pp.3161-3167, ⟨10.1109/ICRA57147.2024.10611211⟩. ⟨hal-04215765v3⟩

Fadi Gebrayel, Martin Mujica, Patrick Danès. Visual Servoing for Vine Pruning based on Point Cloud Alignment. Icinco, Nov 2024, Porto (Portugal), Portugal. ⟨hal-04835687⟩

Aurélie Clodic, Raja Chatila, Marc Vaisset, Matthieu Herrb, Stéphy Le Foll, et al.. HILARE@LAAS around 1982 and a bit before. 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), ieee, Sep 2024, Rotterdam (NL), Netherlands. ⟨hal-04827173⟩

Shashank Shekhar, Anthony Favier, Rachid Alami. Human-Aware Epistemic Task Planning for Human-Robot Collaboration. The HAXP: Human-Aware and Explainable Planning Workshop at ICAPS 2024, Jun 2024, Banff, Canada. ⟨hal-04587617⟩

Roland Godet, Arthur Bit-Monnot, Charles Lesire. Redundant Decompositions in PO HTN Domains: Goto Considered Harmful. ICAPS Hierarchical Planning Workshop (HPlan), Jun 2024, Banff (Alberta), Canada. ⟨hal-04609467⟩

Anthony Favier, Rachid Alami. A Model of Concurrent and Compliant Human-Robot Joint Action to Plan and Supervise Collaborative Robot Actions. Advances in Cognitive Systems (ACS), Nov 2024, Arlington (Virginia), United States. ⟨hal-04609442⟩

Timothée Gavin, Simon Lacroix, Murat Bronz. Accelerating Swarms : Harnessing Hardware Acceleration and Parallelization in Multi-Agent Reinforcement Learning. annual International Micro Air Vehicle Conference and Competition, Sep 2024, Bristol, United Kingdom. pp.80-87. ⟨hal-04728894⟩

Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard. SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. Conference on Robot Learning, Nov 2024, Munich (Allemagne), Germany. ⟨10.48550/arXiv.2409.13678⟩. ⟨hal-04730062⟩

Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, et al.. NAS: N-step computation of All Solutions to the footstep planning problem. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769878⟩. ⟨hal-04730135⟩

Bastien Dussard, Aurélie Clodic, Guillaume Sarthou. From Functional Affordances to Reciprocal Dispositions: An Ontological Representation. International Conference on Social Robotics (16th Edition), Oct 2024, Odense, Denmark. ⟨hal-04776607v2⟩

Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez. Condensed semi-implicit dynamics for trajectory optimization in soft robotics. IEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States. ⟨10.1109/RoboSoft60065.2024.10521997⟩. ⟨hal-04466639⟩

Maxime Sabbah, Raphael Dumas, Zoe Pomarat, Lucas Robinet, Mohamed Adjel, et al.. Ground Reaction Forces and Moments Estimation from Embedded Insoles using Machine Learning Regression Models. IEEE RAS EMBS 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2024), Sep 2024, Heidelberg, Germany. ⟨hal-04557250⟩

Eliott Lumet, Mélanie C. Rochoux, Thomas Jaravel, Simon Lacroix. Reduced-cost EnKF for parameter estimation of microscale atmospheric pollutant dispersion models. 19th International EnKF workshop, Jun 2024, Oslo, Norway. ⟨hal-04748715⟩

Léo Paillet, Antoine Rouxel, Hervé Carfantan, Antoine Monmayrant, Simon Lacroix. Differentiable chief-ray tracing simulator for coded-aperture spectral imaging. Computational Optical Sensing and Imaging, Optica Publishing Group, Jul 2024, Toulouse, France. pp.CTh4B.2, ⟨10.1364/COSI.2024.CTh4B.2⟩. ⟨hal-04692877⟩

Rajesh Subburaman, Olivier Stasse. Delay Robust Model Predictive Control For Whole-Body Torque Control of Humanoids. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. pp.600-606, ⟨10.1109/Humanoids58906.2024.10769888⟩. ⟨hal-04822878⟩

Ali Srour, Salvatore Marcellini, Tommaso Belvedere, Marco Cognetti, Antonio Franchi, et al.. Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty. ICUAS 2024 - International Conference on Unmanned Aircraft Systems, Jun 2024, Chania Crete, Greece. pp.572-578, ⟨10.1109/ICUAS60882.2024.10556958⟩. ⟨hal-04553932⟩

Rajesh Subburaman, Olivier Stasse. Delay Robust Model Predictive Control For Whole-Body Torque Control of Humanoids. IEEE International Conference on Humanoid Robotics, Nov 2024, Nancy, France. ⟨hal-04811937⟩

Thanh D V Nguyen, Vincent Bonnet, Pierre Fernbach, Thomas Flayols, Florent Lamiraux. Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769790⟩. ⟨hal-04769368⟩

Mélanie C. Rochoux, Eliott Lumet, Thomas Jaravel, Simon Lacroix. Prendre en compte les incertitudes dans les prévisions de dispersion atmosphérique de polluants en milieu urbain - Invited conference. Forum TERATEC 2024 - Atelier Risques naturels et technologiques, May 2024, Paris, France. ⟨hal-04748719⟩

Elouan Blanchard, Arthur Bit-Monnot, Cyrille Briand, Grégoire Milliez, Mohamed Amine Abdeljaouad. Planning the tasks of an autonomous mobile robot fleet for internal logistics of production systems. APMS 2024 CONFERENCE, Sep 2024, Chemnitz/Zwickau, Germany. ⟨hal-04642887⟩

Anthony Favier, Rachid Alami. Planning Concurrent Actions and Decisions in Human-Robot Joint Action Context. HRI'24 Workshop Symbiotic Society with Avatars (SSA), Mar 2024, Boulder, United States. ⟨hal-04511507⟩

Dillon Z Chen, Sylvie Thiébaux, Felipe Trevizan. Learning Domain-Independent Heuristics for Grounded and Lifted Planning. 38th AAAI Conference on Artificial Intellifence (AAAI 2024), Association for the Advancement of Artificial Intelligence, Feb 2024, Vancouver, Canada. pp.20078-20086, ⟨10.1609/AAAI.V38I18.29986⟩. ⟨hal-04561847⟩

Kai Xi, Stephen Gould, Sylvie Thiébaux. Neuro-Symbolic Learning of Lifted Action Models from Visual Traces. International Conference on Automated Planning and Scheduling (ICAPS-24), Jun 2024, Banff, Canada. pp.653-662. ⟨hal-04561851⟩

Dillon Z Chen, Sylvie Thiébaux. Novelty Heuristics, Multi-Queue Search, and Portfolios for Numeric Planning. International Symposium on Combinatorial Search (SoCS-24), Jun 2024, Kananaskis, Canada. pp.203-207, ⟨10.1609/socs.v17i1.31559⟩. ⟨hal-04561880⟩

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions. 27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain. ⟨hal-04636454⟩

Ewen Louis Dantec, Wilson Jallet, Justin Carpentier. From centroidal to whole-body models for legged locomotion: a comparative analysis. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨hal-04647996v2⟩

Timothée Gavin, Simon Lacroix, Murat Bronz. Multi-Agent Reinforcement Learning based Drone Guidance for N-View Triangulation. 2024 International Conference on Unmanned Aircraft Systems (ICUAS), Jun 2024, Chania - Crete, Greece. pp.578-585, ⟨10.1109/ICUAS60882.2024.10556867⟩. ⟨hal-04659183⟩

Aurélie Clodic, Anke Brock, Hélène Cochet, Ophélie Carreras, Raphaelle Roy. Robotics, Artificial Intelligence and Humans: A Roadmap, or A Cheat Sheet (or Both?). Robophilosophy Conference 2024, Aug 2024, Aarhus, Denmark. ⟨hal-04669136⟩

Jaeu Choe, Jeongseob Lee, Hyunsoo Yang, Hai-Nguyen Nguyen, Dongjun Lee. Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking. IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨10.1109/ICRA57147.2024.10611268⟩. ⟨hal-04671737⟩

Ryan Xiao Wang, Sylvie Thiébaux. Learning Generalised Policies for Numeric Planning. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-24), Jun 2024, Banff, Canada. pp.633-642. ⟨hal-04561857⟩

Marcel Steinmetz, Sylvie Thiébaux, Daniel Höller, Florent Teichteil-Königsbuch. Explaining the Space of SSP Policies via Policy-Property Dependencies: Complexity, Algorithms, and Relation to Multi-Objective Planning. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-24), Jun 2024, Banff, Canada. pp.555-564. ⟨hal-04561864⟩

Hendry Ferreira Chame, Rachid Alami. AEGO: Modeling Attention for HRI in Ego-Sphere Neural Networks. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04682884⟩

Younes Bouchiba, Juan Cortés, Thomas Schiex, Sophie Barbe. AI-powered de novo design of miniprotein binders. Biosynsys, Jun 2024, Montpellier, France. ⟨hal-04787310⟩

Thorsten Klößner, Álvaro Torralba, Marcel Steinmetz, Silvan Sievers. Merge-and-Shrink Heuristics for SSPs with Prune Transformations. ECAI 2024 - 27th European Conference on Artificial Intelligence, Oct 2024, Santiago de Compostela, Spain. ⟨10.3233/FAIA240618⟩. ⟨hal-04822342⟩

Fadma Amiche, Marie Juillot, Adrien Vigné, Anke Brock, Aurélie Clodic. First Steps of Designing Adaptable User Interfaces to Mediate Human-Robot Interaction. 2024 IEEE Conference on Telepresence, Nov 2024, Pasadena, California, USA, United States. ⟨hal-04787843⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04636503⟩

Constant Roux, Côme Perrot, Olivier Stasse. Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769884⟩. ⟨hal-04807935⟩

Kahina Chalabi, Mohamed Adjel, Thomas Bousquet, Maxime Sabbah, Bruno Watier, et al.. Lower Limbs 3D Joint Kinematics Estimation From Force Plates Data and Machine Learning. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769846⟩. ⟨hal-04749046⟩

Mael Feurgard, Gautier Hattenberger, Simon Lacroix. Extending Guiding Vector Field to track unbounded UAV paths. IEEE International Conference on Robotics and Automation (ICRA 2024), IEEE, May 2024, Yokohama, Japan. à paraître, ⟨10.1109/ICRA57147.2024.10610787⟩. ⟨hal-04550976⟩

Virgile de la Rochefoucauld, Simon Lacroix, Photchara Ratsamee, Haruo Takemura. Solving Multi-Robot Task Allocation and Planning in Trans-media Scenarios. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04695703⟩

Trung-tin Dinh, Hervé Carfantan, Antoine Monmayrant, Simon Lacroix. STATISTICAL TESTS FOR HYPERSPECTRAL CODED DATA UNSUPERVISED CLASSIFICATION. 14th Workshop on Hyperspectral Imaging and Signal Processing: Evolution in Remote Sensing (WHISPERS), IEEE, Dec 2024, Helsinki (Finland), Finland. ⟨hal-04785574⟩

Bastien Dussard, Aurélie Clodic, Guillaume Sarthou. Agent-Exploitation Affordances: From Basic to Complex Representation Patterns. International Conference on Social Robotics (16th Edition), Oct 2024, Odense, Denmark. ⟨hal-04756586⟩

Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. Force Feedback Model-Predictive Control via Online Estimation. IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨10.1109/ICRA57147.2024.10611156⟩. ⟨hal-04564888⟩

Dillon Z Chen, Felipe Trevizan, Sylvie Thiébaux. Return to Tradition: Learning Reliable Heuristics with Classical Machine Learning. International Conference on Automated Planning and Scheduling (ICAPS 2024), Jun 2024, Banff, Canada. ⟨hal-04561875⟩

Daniel Fišer, Marcel Steinmetz. Towards Feasible Higher-Dimensional Potential Heuristics. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-24), Jun 2024, Banff (Alberta), Canada. pp.210-220, ⟨10.1609/icaps.v34i1.31478⟩. ⟨hal-04703786⟩

Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, et al.. Model predictive control under hard collision avoidance constraints for a robotic arm. Ubiquitous Robots 2024, Korea Robotics Society, Jun 2024, New York (USA), United States. ⟨10.1109/UR61395.2024.10597485⟩. ⟨hal-04425002v2⟩

Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier. Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. Robotics: Science and Systems, Jul 2024, Delft, Netherlands. ⟨hal-04575334v3⟩

Gregor Behnke, Marcel Steinmetz. On the Computational Complexity of Stackelberg Planning and Meta-Operator Verification. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-24), Jun 2024, Banff (Alberta), Canada. pp.20-24, ⟨10.1609/icaps.v34i1.31456⟩. ⟨hal-04703806⟩

Thèses de Master

Constant Roux. MPC-RL-based bipedal robot control. Engineering Sciences [physics]. 2024. ⟨dumas-04778229⟩

Autres documents

Younes Bouchiba, Juan Cortés, Thomas Schiex, Sophie Barbe. AI-powered de novo design of miniprotein binders. Biosynsys, Jun 2024, Montpellier, France. ⟨hal-04787355⟩

Eliott Lumet, Mélanie C. Rochoux, Thomas Jaravel, Simon Lacroix. Surrogate-based data assimilation for microscale atmospheric pollutant dispersion. EGU General Meeting 2024, Apr 2024, Vienne, Austria. 2024. ⟨hal-04748723⟩

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning and Accuracy Optimization based on Learned Sensitivity Metric (Video). 2024. ⟨hal-04642257⟩

Émile Siboulet, Arthur Bit-Monnot, Marc-Emmanuel Coupvent des Graviers, Jacques Yelloz, Christophe Guettier, et al.. Plan Generation for Multi-Robot Missions Requiring Active Operator Involvement. ICAPS'24 Workshop on Planning and Robotics (PlanRob), 2024. ⟨hal-04587729⟩

Bastien Dussard, Guillaume Sarthou, Aurélie Clodic. Affordances: A Knowledge Representation towards Human-Robot Interaction. XXII International Conference on Perception and Action (ICPA 2024), Jun 2024, Trondheim, Norway. ⟨hal-04664175⟩

Comptes rendus de conférences

Jessica Cauchard, Charles Dutau, Gianluca Corsini, Marco Cognetti, Daniel Sidobre, et al.. Considerations for Handover and Co-working with Drones. HRI '24: ACM/IEEE International Conference on Human-Robot Interaction, ACM, pp.302-306, 2024, ⟨10.1145/3610978.3640590⟩. ⟨hal-04507806⟩

@softwareversion

Félix Ingrand. BT2Fiacre (Behavior Tree 2 Fiacre). 2024. ⟨hal-04720141⟩

Javier González-Delgado, Christophe Zanon, Juan Cortés. WARIO: Weighted fAmilies of contact maps to chaRacterize conformational ensembles of (highly-)flexIble prOteins. 2024. ⟨hal-04704289⟩

Javier González-Delgado, Christophe Zanon, Juan Cortés. WARIO: Weighted families of contact maps to characterize conformational ensembles of (highly-) flexible proteins. 2024. ⟨hal-04753382⟩

Marcel Steinmetz, Sylvie Thiebaux, Daniel Höller, Florent Teichteil-Königsbuch. Code and Benchmarks for the ICAPS24 paper: Explaining the Space of SSP Policies via Policy-Property Dependencies: Complexity, Algorithms, and Relation to Multi-Objective Planning. 2024. ⟨hal-04703836⟩

Rapports

Malik Ghallab. GPT et les grands modèles du langage en Intelligence Artificielle : principes et défis. LAAS-CNRS. 2024. ⟨hal-04742089⟩

Pré-publications, documents de travail

N. Poquerusse, A. Hays, A. Cortial, O. Vigié, M. Deves, et al.. Measurement of skidding to determine the optimum ergonomic configuration of the racing wheelchair. 2024. ⟨hal-04738045⟩

Sébastien Kleff, Armand Jordana, Nicolas Mansard, Ludovic Righetti. Force Feedback in Model Predictive Control: A Soft Contact Approach. 2024. ⟨hal-04572399⟩

Ilona Alberca, Félix Chénier, Bruno Watier, Florian Brassart, Jean-Marc Vallier, et al.. Impact of holding a badminton racket on temporal and kinematic parameters during manual wheelchair propulsion based on forward and backward propulsion. 2024. ⟨hal-04594677⟩

Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, et al.. Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. 2024. ⟨hal-04731043⟩

Félix Ingrand. ProSkill: A formal skill language for acting in robotics. 2024. ⟨hal-04502274⟩

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Note on learning sensitivity metrics for a quadrotor. 2024. ⟨hal-04642304⟩

Elliot Chane-Sane, Pierre-Alexandre Léziart, Thomas Flayols, Olivier Stasse, Philippe Souères, et al.. CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. 2024. ⟨hal-04523167⟩

Arthur Haffemayer, Armand Jordana, Ludovic de Matteis, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Collision Avoidance in Model Predictive Control using Velocity Damper. 2024. ⟨hal-04707324v2⟩

Virgile Batto, Ludovic de Matteis, Thomas Flayols, Margot Vulliez, Nicolas Mansard. CLEO: Closed-Loop kinematics Evolutionary Optimization of bipedal structures. 2024. ⟨hal-04717159⟩

Malik Ghallab. Recherches en Intelligence Artificielle et Santé: État de l'art et perspectives. 2024. ⟨hal-04750084⟩

Ludovic de Matteis, Virgile Batto, Justin Carpentier, Nicolas Mansard. Optimal Control of Walkers with Parallel Actuation. 2024. ⟨hal-04716938⟩

2023

Articles dans une revue

Javier González-Delgado, Alberto González-Sanz, Juan Cortés, Pierre Neuvial. Two-sample goodness-of-fit tests on the flat torus based on Wasserstein distance and their relevance to structural biology. Electronic Journal of Statistics , 2023, 17 (1), pp.1547-1586. ⟨10.1214/23-EJS2135⟩. ⟨hal-03369795v3⟩

William Margerit, Antoine Charpentier, Cathy Maugis-Rabusseau, Johann Christian Schön, Nathalie Tarrat, et al.. IGLOO: An Iterative Global Exploration and Local Optimization Algorithm to Find Diverse Low-Energy Conformations of Flexible Molecules. Algorithms, 2023, 16 (10), pp.476. ⟨10.3390/a16100476⟩. ⟨hal-04247201⟩

Guillaume Sarthou. Overworld: Assessing the geometry of the world for Human-Robot Interaction. IEEE Robotics and Automation Letters, 2023, 8 (3), pp.1874-1880. ⟨10.1109/LRA.2023.3238891⟩. ⟨hal-04037386⟩

Silvano Dal Zilio, Pierre-Emmanuel Hladik, Félix Ingrand, Anthony Mallet. A formal toolchain for offline and run-time verification of robotic systems. Robotics and Autonomous Systems, 2023, 159, pp.104301. ⟨10.1016/j.robot.2022.104301⟩. ⟨hal-03683044v2⟩

Carlos A Elena-Real, Amin Sagar, Annika Urbanek, Matija Popovic, Anna Morató, et al.. The structure of pathogenic huntingtin exon 1 defines the bases of its aggregation propensity. Nature Structural and Molecular Biology, 2023, 30 (3), pp.309 - 320. ⟨10.1038/s41594-023-00920-0⟩. ⟨hal-04052774⟩

Céline Pieters, Emmanuelle Danblon, Philippe Souères, Jean-Paul Laumond. Talking about moving machines. Interaction Studies, 2023, Interaction Studies, 23 (2), pp.322-340. ⟨10.1075/is.22005.pie⟩. ⟨hal-04269587⟩

Filip Becanovic, Vincent Bonnet, Raphael Dumas, Kosta Jovanovic, Samer Mohammed. Force Sharing Problem During Gait Using Inverse Optimal Control. IEEE Robotics and Automation Letters, 2023, 8 (2), pp.872-879. ⟨10.1109/LRA.2022.3217398⟩. ⟨hal-04034419⟩

Guilhem Buisan, Nathan Compan, Loïc Caroux, Aurélie Clodic, Ophélie Carreras, et al.. Evaluating the Impact of Time-to-Collision Constraint and Head Gaze on Usability for Robot Navigation in a Corridor. IEEE Transactions on Human-Machine Systems, 2023, 53 (6), pp.965-974. ⟨10.1109/THMS.2023.3314894⟩. ⟨hal-04240696⟩

Antoine Rouxel, Trung-tin Dinh, Simon Lacroix, Antoine Monmayrant, Hervé Carfantan. Apports et défis de l’acquisition codée pour l’imagerie hyperspectrale. Photoniques, 2023, 120, pp.51-55. ⟨10.1051/photon/202312051⟩. ⟨hal-04166556⟩

Brett Stephens, Hai-Nguyen Nguyen, Salua Hamaza, Mirko Kovac. An Integrated Framework for Autonomous Sensor Placement With Aerial Robots. IEEE/ASME Transactions on Mechatronics, 2023, 28 (1), pp.38 - 49. ⟨10.1109/TMECH.2022.3202116⟩. ⟨hal-03814116⟩

Arthur Bit-Monnot, Paul Morris. Dynamic Controllability of Temporal Plans in Uncertain and Partially Observable Environments. Journal of Artificial Intelligence Research, 2023, 77, pp.1311-1369. ⟨10.1613/jair.1.13065⟩. ⟨hal-04174986⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Use of adult anthropometric tables to estimate children body segment inertial parameters. International Biomechanics, 2023, 10 (1), pp.18-28. ⟨10.1080/23335432.2023.2268686⟩. ⟨hal-04421690⟩

Filip Becanovic, Vincent Bonnet, Raphaël Dumas, Kosta Jovanovic, Samer Mohammed. Force Sharing Problem During Gait Using Inverse Optimal Control. IEEE Robotics and Automation Letters, 2023, 8 (2), pp 872-879. ⟨10.1109/LRA.2022.3217398⟩. ⟨hal-03953527⟩

Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi. Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty. IEEE Transactions on Robotics, 2023, 39 (5), pp.3977 - 3993. ⟨10.1109/TRO.2023.3279033⟩. ⟨hal-04161342⟩

Bruno Watier, Jérémie Begue, Hélène Pillet, Teddy Caderby. Instability during Stepping and Distance between the Center of Mass and the Minimal Moment Axis: Effect of Age and Speed. Applied Sciences, 2023, 13 (19), pp.10574. ⟨10.3390/app131910574⟩. ⟨hal-04239243⟩

Karl Montalban, Dinesh Atchuthan, Christophe Reymann, Alexandre Ravet, Paul-Edouard Dupouy, et al.. Bayesian inference of visibility in fog and smoke artificial conditions from 3D-LiDAR point clouds. Journal of Quantitative Spectroscopy and Radiative Transfer, 2023, 308, pp.108666. ⟨10.1016/j.jqsrt.2023.108666⟩. ⟨hal-04171913⟩

Javier González-Delgado, Amin Sagar, Christophe Zanon, Kresten Lindorff-Larsen, Pau Bernadó, et al.. WASCO: A Wasserstein-based Statistical Tool to Compare Conformational Ensembles of Intrinsically Disordered Proteins. Journal of Molecular Biology, 2023, 435 (14), pp.168053. ⟨10.1016/j.jmb.2023.168053⟩. ⟨hal-04056662⟩

Yue Zan, Mario Piedrahita-Bello, Seyed E Alavi, Gábor Molnár, Bertrand Tondu, et al.. Soft Actuators Based on Spin‐Crossover Particles Embedded in Thermoplastic Polyurethane. Advanced Intelligent Systems, 2023, 5 (6), pp.2200432. ⟨10.1002/aisy.202200432⟩. ⟨hal-04008039⟩

Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, et al.. Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication ⋆. Automatica, 2023, 151, pp.110941. ⟨10.1016/j.automatica.2023.110941⟩. ⟨hal-04010855⟩

Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, et al.. Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning. Scientific Reports, 2023, 13 (11945), pp.12. ⟨10.1038/s41598-023-38259-7⟩. ⟨hal-03761331v2⟩

Vincent Bonnet, Joseph Mirabel, David Daney, Florent Lamiraux, Maxime Gautier, et al.. Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot. Robotics and Autonomous Systems, 2023, 164, pp.104365. ⟨10.1016/j.robot.2023.104365⟩. ⟨hal-04222944⟩

Vincent Rodriguez, J. Melguizo-Gavilanes, Vianney Monnier, Pierre Vidal, Ratiba Zitoun. Steady rotation of a Mach shock: experimental and numerical evidences. Experiments in Fluids, 2023, ⟨10.1007/s00348-023-03612-z⟩. ⟨hal-03867085v2⟩

Nicolas Maury, Gregory Roberts, Fleur Couvreux, Titouan Verdu, Pierre Narvor, et al.. Quantifying the mixing of trade‐wind cumulus during the NEPHELAE‐EUREC4A field campaign with remotely piloted aircraft. Quarterly Journal of the Royal Meteorological Society, 2023, 149 (752), pp.809-829. ⟨10.1002/qj.4430⟩. ⟨hal-04253110⟩

Teddy Caderby, Angélique Lesport, Nicolas A Turpin, Georges Dalleau, Bruno Watier, et al.. Influence of aging on the control of the whole-body angular momentum during volitional stepping: An UCM-based analysis. Experimental Gerontology, 2023, 178, pp.112217. ⟨10.1016/j.exger.2023.112217⟩. ⟨hal-04134416⟩

Livres

Jean-Paul Laumond. La Robotique.. Odile Jacob, 288p., 2023, 9782415006044. ⟨hal-04137269⟩

Communications dans un congrès

Mathieu Deves, Thibault Marsan, Arnaud Faupin, Bruno Watier. IN SITU VALIDATION OF POWER QUANTIFICATION FOR DYNAMIC WHEELCHAIR SPORTS. International Society of Biomechanics (ISB), Jul 2023, Fukuoka, Japan. ⟨hal-04489340⟩

Ilona Alberca, Bruno Watier, Félix Chénier, Arnaud Faupin. COMPARISON BETWEEN BACKWARD AND FORWARD PROPULSION IN WHEELCHAIR BADMINTON. International Society of Biomechanics (ISB), Jul 2023, Fukuoka, Japan. ⟨hal-04489352⟩

Bruno Watier, Jérémie Begue, Teddy Caderby, Hélène Pillet. BODY CENTER OF MASS TO MINIMAL MOMENT AXIS DISTANCE IS DETERMINANT OF AGE-RELATED EVOLUTION IN STEPPING. International Society of Biomechanics (ISB), Jul 2023, Fukuoka, Japan. ⟨hal-04489345⟩

Anthony Favier, Shashank Shekhar, Rachid Alami. Anticipating False Beliefs and Planning Pertinent Reactions in Human-Aware Task Planning with Models of Theory of Mind. PlanRob Workshop - International Conference on Automated Planning and Scheduling (ICAPS 2023), Jul 2023, Prague, Czech Republic. ⟨hal-04163435⟩

Roland Godet, Charles Lesire, Arthur Bit-Monnot. Multi-Robot Task Planning to Secure Human Group Progress. ECAI Agents and Robots for reliable Engineered Autonomy Workshop (AREA), Sep 2023, Krakow (Cracovie), Poland. pp.113 - 126, ⟨10.4204/eptcs.391.13⟩. ⟨hal-04500447⟩

Philippe Hérail, Arthur Bit-Monnot. Leveraging Demonstrations for Learning the Structure and Parameters of Hierarchical Task Networks. The 36th International FLAIRS Conference, May 2023, Clearwater Beach, Florida, United States. ⟨10.32473/flairs.36.133327⟩. ⟨hal-04063794v2⟩

Arthur Bit-Monnot. Experimenting with Lifted Plan-Space Planning as Scheduling: Aries in the 2023 IPC. 2023 International Planning Competition at the 33rd International Conference on Automated Planning and Scheduling, Jul 2023, Prague, Czech Republic. ⟨hal-04174737⟩

Hugo Bildstein, A. Durand-Petiteville, Viviane Cadenat. Enhanced Visual Predictive Control Scheme for Mobile Manipulator. European Conference on Mobile Robots (ECMR 2023), Sep 2023, Coimbra, Portugal. pp.1-7, ⟨10.1109/ECMR59166.2023.10256320⟩. ⟨hal-04634937⟩

Selvakumar Hastham Sathiya Satchi Sadanandam, Sebastian Stock, Alexander Sung, Félix Ingrand, Oscar Lima, et al.. A Closed-Loop Framework-Independent Bridge from AIPlan4EU's Unified Planning Platform to Embedded Systems. 33rd International Conference on Automated Planning and Scheduling (ICAPS 2023) PlanRob Workshop, Jul 2023, Prague, Czech Republic. ⟨hal-04131316⟩

Amr Afifi, Gianluca Corsini, Quentin Sablé, Youssef Aboudorra, Daniel Sidobre, et al.. Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned. The 2023 International Conference on Unmanned Aircraft Systems (ICUAS 2023), Jun 2023, Warsaw, Poland. ⟨10.1109/ICUAS57906.2023.10156609⟩. ⟨hal-04134284⟩

Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, et al.. Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom. ⟨hal-03945110v2⟩

Umberto Grandi, Emiliano Lorini, Timothy Parker, Rachid Alami. Logic-Based Ethical Planning. 21st International Conference of the Italian Association for Artificial Intelligence: Advances in Artificial Intelligence (AIxIA 2022), Italian Association for Artificial Intelligence, Nov 2022, Udine, Italy. pp.198--211, ⟨10.1007/978-3-031-27181-6_14⟩. ⟨hal-04308082⟩

Amandine Mayima, Guillaume Sarthou, Guilhem Buisan, Phani-Teja Singamaneni, Yoan Sallami, et al.. How to make a robot guide?. 18th International Symposium on Experimental Robotics (ISER 2023), Nov 2023, Chiang Mai, Thailand. ⟨hal-04243068⟩

Thibaud Lasguignes, Guillaume Gobin, Olivier Stasse. LiDAR-based localization system for kidnapped robots. International Conference on Robotic Computing (IRC 2023), Dec 2023, Laguna Hills, CA, United States. ⟨hal-04363895⟩

Mohamed Adjel, Maxime Sabbah, Raphael Dumas, Nicolas Mansard, Samer Mohammed, et al.. Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. pp.10926-10932, ⟨10.1109/IROS55552.2023.10342040⟩. ⟨hal-04610568⟩

Anthony Favier, Shashank Shekhar, Rachid Alami. Models and Algorithms for Human-Aware Task Planning with Integrated Theory of Mind. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Aug 2023, Busan, South Korea. ⟨10.1109/RO-MAN57019.2023.10309437⟩. ⟨hal-04210921⟩

Thibault Marsan, Yann Landon, Bruno Watier. À la recherche d’un critère de performance pour les athlètes d’escrime fauteuil. para-escrime, performance, individualité, ACAPS, Oct 2023, Reims, France. ⟨hal-04275917⟩

Cyrille Briand, Arthur Bit-Monnot, Adrien Deckx van Ruys. Planification prévisionnelle de véhicules autonomes pour la logistique interne de systèmes de production. 24ème congrès de la Société Française de Recherche Opérationnelle et d'Aide à la Décision ROADEF 2023, Nadjib Brahimi, Feb 2023, Rennes, France. ⟨hal-04249513⟩

Filip Becanovic, Vincent Bonnet, Raphaël Dumas, Kosta Jovanovic, Samer Mohammed. Force Sharing Problem During Gait Using Inverse Optimal Control. International Conference on Robotics and Automation (ICRA 2023), May 2023, London, United Kingdom. pp.872-879, ⟨10.1109/LRA.2022.3217398⟩. ⟨hal-04063981⟩

Timothy Parker, Umberto Grandi, Emiliano Lorini, Aurélie Clodic, Rachid Alami. Ethical Planning with Multiple Temporal Values. 5th biennial Robophilosophy Conference : Social Robots in Social Institutions (Robophilosophy 2022), Aug 2022, Helsiinki, Finland. ⟨10.3233/FAIA220644⟩. ⟨hal-04308824⟩

H. Bildstein, A. Durand-Petiteville, Viviane Cadenat. Multi-camera Visual Predictive Control Strategy for Mobile Manipulators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jun 2023, Seattle (USA, United States. pp.476-482, ⟨10.1109/AIM46323.2023.10196125⟩. ⟨hal-04199898⟩

Philippe Hérail, Arthur Bit-Monnot. Towards Teaching High-Level Behaviors to a Robotic Agent. HRI Human-Interactive Robot Learning Workshop (HIRL), Mar 2023, Stockholm, Sweden. ⟨hal-04016861⟩

Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi. Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Michigan, United States. pp.6920-6926, ⟨10.1109/IROS55552.2023.10342240⟩. ⟨hal-04345267⟩

Phani-Teja Singamaneni, Anthony Favier, Rachid Alami. Towards Benchmarking Human-Aware Social Robot Navigation: A New Perspective and Metrics. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023, Aug 2023, Busan, South Korea. ⟨10.1109/RO-MAN57019.2023.10309398⟩. ⟨hal-04196832v2⟩

Simon Wasiela, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories. IEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom. ⟨hal-03808933v2⟩

Philippe Hérail, Arthur Bit-Monnot. Extracting Hierarchical Task Networks Parameters from Demonstrations. ICAPS Hierarchical Planning Workshop (HPlan), Jul 2023, Prague, Czech Republic. ⟨hal-04174929⟩

Ali Srour, Antonio Franchi, Paolo Robuffo Giordano. Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty. IROS2023, Oct 2023, Detroit (Michigan), United States. ⟨hal-04192321⟩

Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea del Prete, Ludovic Righetti. Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. The International Symposium of Robotics Research (ISSR 2022), Sep 2022, Geneve, Switzerland. pp.420-435, ⟨10.1007/978-3-031-25555-7_29⟩. ⟨hal-04741105⟩

T Marsan, I Alberca, A Faupin, Bruno Watier. Impact of holding a racket on upper limbs kinematics for parabadminton: a preliminary study. 48ème Congrès de la Société de Biomécanique, Oct 2023, Grenoble, France. ⟨hal-04490448⟩

Dinh Vinh Thanh Nguyen, Vincent Bonnet, Sabbah Maxime, Maxime Gautier, Pierre Fernbach, et al.. FIGAROH: a Python toolbox for dynamic identification and geometric calibration of robots and humans. IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin (TX), United States. ⟨10.1109/Humanoids57100.2023.10375232⟩. ⟨hal-04234676v2⟩

Ely Repiso, Guillaume Sarthou, Aurélie Clodic. Towards a system that allows robots to use commitments in joint action with humans. IEEE RO-MAN 2023, Aug 2023, Busan (Corée), South Korea. ⟨10.1109/RO-MAN57019.2023.10309590⟩. ⟨hal-04206081⟩

Marine Desvergnes, Nicolas Louveton, Cécile Scotto Di Cesare, Kathleen Belhassein, Margot Vulliez, et al.. Développement d'un scénario de maintenance industriel, écologique et reproductible pour l'évaluation ergonomique des interfaces humain-machine et de la charge mentale. ERGO'IA 2023 - "L’avenir de l’humain dans les systèmes sociotechniques du futur", Oct 2023, Biarritz, France. ⟨hal-04405063⟩

Trung-tin Dinh, Hervé Carfantan, Antoine Monmayrant, Simon Lacroix. Tests statistiques pour l'analyse d'acquisitions hyperspectrales codées. 29è Colloque sur le traitement du signal et des images, GRETSI - Groupe de Recherche en Traitement du Signal et des Images, GRETSI, Aug 2023, Grenoble, France. ⟨hal-04167075⟩

Dillon Z Chen, Felipe Trevizan, Sylvie Thiébaux. Heuristic Search for Multi-Objective Probabilistic Planning. AAAI Conference on Artificial Intelligence, AAAI, Feb 2023, Washington DC, United States. ⟨hal-04019253⟩

Hélène Pillet, Xavier Bonnet, Bruno Watier. INFLUENCE OF NEGLECTING FREE MOMENT AND TRANSVERSE GROUND REACTION FORCES IN THE DETECTION OF THE INSTABILITY OF GAIT. International Society of Biomechanics (ISB), Jul 2023, Fukuoka, Japan. ⟨hal-04489336⟩

Shashank Shekhar, Anthony Favier, Rachid Alami, Madalina Croitoru. A Knowledge Rich Task Planning Framework for Human-Robot Collaboration. AI 2023 - 43rd SGAI International Conference on Artificial Intelligence, Dec 2023, Cambridge, United Kingdom. pp.259-265, ⟨10.1007/978-3-031-47994-6_25⟩. ⟨hal-04385641⟩

Viviane Cadenat, Adrien Durand-Petiteville, Donatien Billot, Antoine Villemazet. Image-based tree detection for autonomous navigation in orchards. Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Education (WRE 2023), Oct 2023, Salvador (Bahia), Brazil. ⟨10.1109/LARS/SBR/WRE59448.2023.10332948⟩. ⟨hal-04386063⟩

Arthur Bit-Monnot. Enhancing Hybrid CP-SAT Search for Disjunctive Scheduling. 26th European Conference on Artificial Intelligence (ECAI 2023)), Sep 2023, Krakow, Poland. ⟨hal-04174800⟩

Anthony Favier, Phani Teja Singamaneni, Rachid Alami. Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System. Social Simulation Conference (SSC), Sep 2023, Glasgow, United Kingdom. ⟨hal-04211919v2⟩

Jérôme Truc, Daniel Sidobre, Rachid Alami. Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator. ACM/IEEE International Conference on Human-Robot Interaction (HRI 2023), Mar 2023, Stockholm, Sweden. pp.122-126, ⟨10.1145/3568294.3580055⟩. ⟨hal-04029293⟩

Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier. Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control. ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. ⟨hal-03780392v3⟩

Katia Sousa Lillo, Andrea de Maio, Simon Lacroix, Amaury Nègre. DUNE-M : un estimateur local d'incertitude sur la position des points d'intérêt évolutif dans le temps. GRETSI 2023 - XXIXème Colloque Francophone de Traitement du Signal et des Images, GRETSI - Groupe de Recherche en Traitement du Signal et des Images, Aug 2023, Grenoble, France. ⟨hal-04299044v2⟩

Karl Montalban, Christophe Reymann, Dinesh Atchuthan, Paul-Edouard Dupouy, Nicolas Rivière, et al.. Bayesian inference of fog visibility from LiDAR point clouds and correlation with probabilities of detection. 2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023, London, United Kingdom. pp.7076-7082, ⟨10.1109/ICRA48891.2023.10161535⟩. ⟨hal-04253092⟩

Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, et al.. A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. IEEE-RAS Humanoids 2023, IEEE-RAS, Dec 2023, Austin, TX, United States. ⟨10.1109/Humanoids57100.2023.10375148⟩. ⟨hal-04174932v2⟩

Adrien Vigné, Guillaume Sarthou, Aurélie Clodic. Primitive Action Recognition based on Semantic Facts. ICSR 2023 - International Conference on Social Robotics, Dec 2023, Doha, Qatar. pp.350--362, ⟨10.1007/978-981-99-8715-3_29⟩. ⟨hal-04397039⟩

Jérémy Turi, Arthur Bit-Monnot, Félix Ingrand. Enhancing Operational Deliberation in a Refinement Acting Engine with Continuous Planning. Integrated Acting, Planning and Execution (IntEx), ICAPS'23 Workshop, Jul 2023, Prague, Czech Republic. ⟨hal-04107355⟩

Wanchen Li, Robin Passama, Vincent Bonnet, Andrea Cherubini. A comparison of human skeleton extractors for real-time human-robot interaction. ARSO 2023 - IEEE International Conference on Advanced Robotics and Its Social Impacts, Jun 2023, Berlin, Germany. pp.159-165, ⟨10.1109/arso56563.2023.10187411⟩. ⟨hal-04371340⟩

Côme Perrot, Olivier Stasse. Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial Operations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10342428⟩. ⟨hal-04168681⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments. IEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom. ⟨hal-03808885v2⟩

Ely Repiso, Anaís Garrell, Alberto Sanfeliu. Real-Life Experiment Metrics for Evaluating Human-Robot Collaborative Navigation Tasks. IEEE RO-MAN 2023, Aug 2023, Busan (Corée), South Korea. ⟨10.1109/RO-MAN57019.2023.10309529⟩. ⟨hal-04206085⟩

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Multi-camera GPS-free Nonlinear Model Predictive Control strategy to traverse orchards. European Conference on Mobile Robots, Sep 2023, Coimbra (PT), Portugal. ⟨hal-04634897⟩

Renee Selvey, Alban Grastien, Sylvie Thiébaux. Formal Explanations of Neural Network Policies for Planning. Thirty-Second International Joint Conference on Artificial Intelligence {IJCAI-23}, Aug 2023, Macau, Macau SAR China. pp.5446-5456, ⟨10.24963/ijcai.2023/605⟩. ⟨hal-04241579⟩

Dingdong Zhang, Franz Schweizer, Guillermo López Quesada, Samuel Bergdolt, Stefan Hengsbach, et al.. Isothermal pressure driven gas microflows in tapered microchannels with circular cross section: numerical and experimental investigations. 4th European Conference on Non-equilibrium Gas Flows – NEGF23, Mar 2023, Eindhoven, Netherlands. 172-176 (paper NEGF23-438617). ⟨hal-04070325⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Simultaneous Action and Grasp Feasibility Prediction for Task and Motion Planning through Multi-Task Learning. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroy, United States. ⟨hal-04016581⟩

Adrien Durand-Petiteville, Viviane Cadenat, Aluizio F.R. Araujo, Ariane Herbulot, Antoine Villemazet, et al.. A GNSS-free navigation strategy for orchards. SBIAgro 2023 - Congresso Brasileiro de Agroinformática, Nov 2023, Natal - Rio Grande do Norte, Brazil. ⟨hal-04646989⟩

Bruno Watier, Hélène Pillet, Jérémie Begue, Teddy Caderby. A comparison of force plates data and derivative of momenta during stepping. 48ème Congrès de la Société de Biomécanique, Société de Biomécanique, Oct 2023, Grenoble, France. pp.S153-S155. ⟨hal-04263773⟩

Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez. Comparative metrics of advanced serial/parallel biped design and characterization of the main contemporary architectures. IEEE-RAS International Conference on Humanoid Robots 2023, Dec 2023, Austin (Texas), United States. ⟨10.1109/Humanoids57100.2023.10375224⟩. ⟨hal-04191553v2⟩

Hendry Ferreira Chame, Aurélie Clodic, Rachid Alami. TOP-JAM: A bio-inspired topology-based model of joint attention for human-robot interaction. IEEE International Conference on Robotics and Automation (ICRA 2023), IEEE, May 2023, London, United Kingdom. ⟨10.1109/ICRA48891.2023.10160488⟩. ⟨hal-04023355v2⟩

Phani-Teja Singamaneni, Alessandro Umbrico, Andrea Orlandini, Rachid Alami. Adaptive Robot Navigation through Integrated Task and Motion Planning. PlanRob Workshop - International Conference on Automated Planning and Scheduling (ICAPS 2023), Jul 2023, Prague, Czech Republic. ⟨hal-04163587⟩

Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac. Stand-alone obstacle avoidance controller for image-based navigation. IEEE LARS 2022 / SBR 2022 -19th IEEE Latin American Robotics Symposium / 14th Brazilian Symposium on Robotics, Oct 2022, São Paulo, Brazil. p. 133-138, ⟨10.1109/LARS/SBR/WRE56824.2022.9995933⟩. ⟨hal-03807426⟩

Florent Teichteil-Königsbuch, Guillaume Povéda, Guillermo González de Garibay Barba, Tim Luchterhand, Sylvie Thiébaux. Fast and Robust Resource-Constrained Scheduling with Graph Neural Networks. 33rd International Conference on Automated Planning and Scheduling (ICAPS), Jul 2023, Prague, Czech Republic. ⟨hal-04141504⟩

Bastien Dussard, Guillaume Sarthou, Aurélie Clodic. Ontological component-based description of robot capabilities. International Workshop on Working towards Ontology-based Standards for Robotics and Automation (WOSRA 2023 - 2nd Edition), Jun 2023, Londres, United Kingdom. ⟨hal-04125276⟩

Yang You, Vincent Thomas, Francis Colas, Rachid Alami, Olivier Buffet. Robust Robot Planning for Human-Robot Collaboration. 2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023, London, United Kingdom. pp.9793-9799, ⟨10.1109/ICRA48891.2023.10161406⟩. ⟨hal-04191464⟩

Autres documents

Roland Lenain, Marco Medici, Philippe Martinet, Ouiddad Igbida Labbani, Danès Patrick, et al.. NINSAR: New itineraries for agroecology using cooperative robots. WORLD FIRA 2023 - Forum international de la robotique agricole en action, Feb 2023, Toulouse, France. , pp.1-1, 2023. ⟨hal-04205666⟩

Comptes rendus de conférences

Pierre Moretto, Frédéric Guittard, Philippe Souères, Anthony Herrel, José de Jesus Castillo-Zamora, et al.. Mouvement Animal et Humain : Biomécanique, Biorobotique, Biomimétisme GDR 2088 Biomimétisme Bio-inspiration. Mouvement Animal et Humain, Biomécanique, Biorobotique, 2023, Mouvement Animal et Humain, Biomécanique, Biorobotique, Biomimétisme. ⟨hal-04320976v2⟩

@softwareversion

Javier González-Delgado, Christophe Zanon, Juan Cortés. WASCO: A Wasserstein-based statistical tool to compare conformational ensembles of intrinsically disordered proteins. 2023. ⟨hal-04703769⟩

Félix Ingrand. ProSkill. 2023. ⟨hal-04738223⟩

Pré-publications, documents de travail

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects. 2023. ⟨hal-04284213⟩

Diane Bury, Joseph Mirabel, Florent Lamiraux, Marc Gouttefarde, Pierre-Elie Hervé. Exact collision detection along paths: Optimization and proof of convergence. 2023. ⟨hal-04056297⟩

Marc Renaud. Géométrie du triangle à l'aide des coordonnées aréolaires. 2023. ⟨hal-04074181⟩

Marc Renaud. Grassmanniennes, calcul de Schubert et polynômes de Schur. 2023. ⟨hal-04288623⟩

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Learned Sensitivity Metrics for Robust and Accurate Motion Planning. 2023. ⟨hal-04027078⟩

Javier González-Delgado, Juan Cortés, Pierre Neuvial. Post-clustering Inference under Dependency. 2023. ⟨hal-04250364⟩

Anthony Francis, Claudia Pérez-d'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, et al.. Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. 2023. ⟨hal-04164243⟩

Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, et al.. Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control. 2023. ⟨hal-04330251⟩

Quang Anh Le, Alexandre Thiault, Florent Lamiraux. States Path Finder: a general and efficient algorithm for prehensile manipulation planning. 2023. ⟨hal-03777018v2⟩

Avinash Kumar Singh, Mohamed Adjel, Vincent Bonnet, Robin Passama, Andrea Cherubini. A Framework for Recognizing Industrial Actions via Joint Angles. 2023. ⟨hal-03925161⟩

Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, et al.. PROXDDP: Proximal Constrained Trajectory Optimization. 2023. ⟨hal-04332348⟩

2022

Articles dans une revue

Noelie Ramuzat, Sebastien Boria, Olivier Stasse. Passive Inverse Dynamics Control using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787 - 2794. ⟨10.1109/LRA.2022.3144767⟩. ⟨hal-03547136v2⟩

Gautier Hattenberger, Titouan Verdu, Nicolas Maury, Pierre Narvor, Fleur Couvreux, et al.. Field report: Deployment of a fleet of drones for cloud exploration. International Journal of Micro Air Vehicles, 2022, 14, pp.175682932110708. ⟨10.1177/17568293211070830⟩. ⟨hal-03520657⟩

Pablo Mier, Carlos Elena-Real, Juan Cortés, Pau Bernadó, Miguel Andrade-Navarro. The sequence context in poly-alanine regions: structure, function and conservation. Bioinformatics, 2022, 38 (21), pp.4851-4858. ⟨10.1093/bioinformatics/btac610⟩. ⟨hal-03778766⟩

Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi. FAST-Hex -A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. IEEE/ASME Transactions on Mechatronics, 2022, 27 (3), pp.1244 - 1255. ⟨10.1109/TMECH.2021.3099197⟩. ⟨hal-03271812⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Inverse Optimal Control to Model Human Trajectories During Locomotion. Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (5), pp.499-511. ⟨10.1080/10255842.2021.1962311⟩. ⟨hal-03142655v2⟩

Zongmian Li, Jiri Sedlar, Justin Carpentier, Ivan Laptev, Nicolas Mansard, et al.. Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. International Journal of Computer Vision, 2022, 130 (2), pp.363-383. ⟨10.1007/s11263-021-01540-1⟩. ⟨hal-03420419⟩

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi. Past, Present and Future of Aerial Robotic Manipulators. IEEE Transactions on Robotics, 2022, 38 (1), pp.626 - 645. ⟨10.1109/TRO.2021.3084395⟩. ⟨hal-03255846⟩

Amandine Mayima, Aurélie Clodic, Rachid Alami. Towards Robots able to Measure in Real-time the Quality of Interaction in HRI Contexts. International Journal of Social Robotics, 2022, 14, pp.713-731. ⟨10.1007/s12369-021-00814-5⟩. ⟨hal-03326954v2⟩

Bertrand Tondu, Mario Piedrahita-Bello, L. Salmon, Gábor Molnár, Azzedine Bousseksou. Robust linear control of a bending molecular artificial muscle based on spin crossover molecules. Sensors and Actuators A: Physical , 2022, 335, pp.113359. ⟨10.1016/j.sna.2021.113359⟩. ⟨hal-03525817⟩

Javier González-Delgado, Pau Bernadó, Pierre Neuvial, Juan Cortés. Statistical proofs of the interdependence between nearest neighbor effects on polypeptide backbone conformations. Journal of Structural Biology, 2022, 214 (4), pp.107907. ⟨10.1016/j.jsb.2022.107907⟩. ⟨hal-03826233⟩

Sacha Guitteny, Yoann Lafon, Vincent Bonnet, Rachid Aissaoui, Raphaël Dumas. Dynamic estimation of soft tissue stiffness for use in modeling socket, orthosis or exoskeleton interfaces with lower limb segments. Journal of Biomechanics, 2022, 134, pp.110987. ⟨10.1016/j.jbiomech.2022.110987⟩. ⟨hal-03592590⟩

Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, et al.. Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.9945 - 9952. ⟨10.1109/LRA.2022.3192581⟩. ⟨hal-03591735v2⟩

Gabriele Fadini, Thomas Flayols, Andrea del Prete, Philippe Souères. Simulation aided co-design for robust robot optimization. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11306 - 11313. ⟨10.1109/LRA.2022.3200142⟩. ⟨hal-03592085v3⟩

Kathleen Belhassein, Víctor Fernández-Castro, Amandine Mayima, Aurélie Clodic, Elisabeth Pacherie, et al.. Addressing joint action challenges in HRI: Insights from psychology and philosophy. Acta Psychologica, 2022, 222, ⟨10.1016/j.actpsy.2021.103476⟩. ⟨hal-03505047⟩

Dario Sanalitro, Marco Tognon, A Jimenez Cano, Juan Cortés, Antonio Franchi. Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator. IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6726 - 6733. ⟨10.1109/LRA.2022.3176457⟩. ⟨hal-03664826⟩

Lionel Pibre, Jorge Francisco Madrigal Diaz, Cyrille Equoy, Frédéric Lerasle, Thomas Pellegrini, et al.. Audio-video fusion strategies for active speaker detection in meetings. Multimedia Tools and Applications, 2022, 2022, pp.1-26. ⟨10.1007/s11042-022-13746-7⟩. ⟨hal-03792965⟩

Nicolas Maury, Grégory Roberts, Fleur Couvreux, Titouan Verdu, Pierre Narvor, et al.. Use of Large-Eddy simulations to design an adaptive sampling strategy to assess cumulus cloud heterogeneities by Remotely Piloted Aircraft. Atmospheric Measurement Techniques, 2022, 15 (2), pp.335-352. ⟨10.5194/amt-15-335-2022⟩. ⟨hal-03156025⟩

Amélie Barozet, Kevin Molloy, Marc Vaisset, Christophe Zanon, Pierre Fauret, et al.. MoMA-LoopSampler: A web server to exhaustively sample protein loop conformations. Bioinformatics, 2022, 38 (2), pp.552-553. ⟨10.1093/bioinformatics/btab584⟩. ⟨hal-03326493⟩

A E Jiménez-Cano, Dario Sanalitro, M. Tognon, A. Franchi, J. Cortés. Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System. Journal of Intelligent and Robotic Systems, 2022, 105 (3), pp.68. ⟨10.1007/s10846-022-01668-3⟩. ⟨hal-03748086⟩

Rafael Bailon-Ruiz, Arthur Bit-Monnot, Simon Lacroix. Real-time wildfire monitoring with a fleet of UAVs. Robotics and Autonomous Systems, 2022, 152, pp.104071. ⟨10.1016/j.robot.2022.104071⟩. ⟨hal-03600830⟩

Florent Lamiraux, Joseph Mirabel. Prehensile Manipulation Planning: Modeling, Algorithms and Implementation. IEEE Transactions on Robotics, 2022, 38 (4), pp.2370-2388. ⟨10.1109/TRO.2021.3130433⟩. ⟨hal-02995125v2⟩

Kathleen Belhassein, Víctor Fernández-Castro, Amandine Mayima, Aurélie Clodic, Elisabeth Pacherie, et al.. Addressing joint action challenges in HRI: Insights from psychology and philosophy. Acta Psychologica, 2022, 222, pp.103476. ⟨10.1016/j.actpsy.2021.103476⟩. ⟨hal-04820883⟩

Nicolás González-Foutel, Juliana Glavina, Wade Borcherds, Matías Safranchik, Susana Barrera-Vilarmau, et al.. Conformational buffering underlies functional selection in intrinsically disordered protein regions. Nature Structural and Molecular Biology, 2022, 29 (8), pp.781-790. ⟨10.1038/s41594-022-00811-w⟩. ⟨hal-03767337⟩

Isabelle Maroger, Manon Silva, Hélène Pillet, Nicolas Turpin, Olivier Stasse, et al.. Walking paths during collaborative carriages do not follow the simple rules observed in the locomotion of single walking subjects. Scientific Reports, 2022, 12 (1), pp.15585. ⟨10.1038/s41598-022-19853-7⟩. ⟨hal-04336933⟩

Mariane Gonçalves-Kulik, Pablo Mier, Kristina Kastano, Juan Cortés, Pau Bernadó, et al.. Low Complexity Induces Structure in Protein Regions Predicted as Intrinsically Disordered. Biomolecules, 2022, 12 (8), pp.1098. ⟨10.3390/biom12081098⟩. ⟨hal-03767342⟩

Mario Piedrahita-Bello, Yue Zan, Alejandro Enriquez-Cabrera, Gábor Molnár, Bertrand Tondu, et al.. Effect of the spin crossover filler concentration on the performance of composite bilayer actuators. Chemical Physics Letters, 2022, 793, pp.139438. ⟨10.1016/j.cplett.2022.139438⟩. ⟨hal-03608746⟩

Noelie Ramuzat, Olivier Stasse, Sebastien Boria. Benchmarking Whole Body controllers on the TALOS Humanoid Robot. Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩. ⟨hal-03614143⟩

Martin Jacquet, Max Kivits, Hemjyoti Das, Antonio Franchi. Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2063 - 2070. ⟨10.1109/LRA.2022.3143218⟩. ⟨hal-03482081v3⟩

Bohdan Andriyevsky, Nathalie Tarrat, Juan Cortés, Johann Christian Schön. Dehydrogenation versus deprotonation of disaccharide molecules in vacuum: a thorough theoretical investigation. Royal Society Open Science, 2022, 9 (10), ⟨10.1098/rsos.220436⟩. ⟨hal-03817247⟩

Brett Stephens, Lachlan Orr, Basaran Bahadir Kocer, Hai-Nguyen Nguyen, Mirko Kovac. An Aerial Parallel Manipulator With Shared Compliance. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11902-11909. ⟨10.1109/LRA.2022.3205111⟩. ⟨hal-03813643⟩

Elizabeth Hemsley, Ibrahim Ardi, Tony Rouvier, Simon Lacroix, Hervé Carfantan, et al.. Fast reconstruction of hyperspectral images from coded acquisitions using a separability assumption. Optics Express, 2022, 30 (5), pp.8174-8185. ⟨10.1364/OE.448893⟩. ⟨hal-03610209v2⟩

Chapitres d’ouvrages

Elisabeth Pacherie, Víctor Fernández Castro. Robots and Resentment: Commitments, recognition and social motivation in HRI. Springer. Emotional Machines. Perspectives from Affective Computing and Emotional Human-Machine Interaction, Springer Fachmedien Wiesbaden, 2022, 9783658376406. ⟨ijn_03496738⟩

Communications dans un congrès

Teddy Caderby, Angélique Lesport, Nicolas A Turpin, Georges Dalleau, Bruno Watier, et al.. Age effect on the stabilization of the whole-body angular momentum during stepping. SB 2022 : 47eme Congrès de la Société de Biomécanique, Société de Biomécanique; Association Tunisienne de la Promotion de la Recherche Appliquée, Oct 2022, Monastir, Tunisia. pp.S46-S48. ⟨hal-03862307⟩

Maud Biquard, Simon Lacroix, Antoine Rouxel, Hervé Carfantan, Antoine Monmayrant, et al.. CSSNET: A Learning Algorithm for the Segmentation of Compressed Hyperspectral Images. Workshop on Hyperspectral Images and Signal Processing: Evolution in Remote Sensing (WHISPERS 2022), Sep 2022, Rome, Italy. ⟨10.1109/WHISPERS56178.2022.9955065⟩. ⟨hal-03746594⟩

Jérôme Truc, Phani-Teja Singamaneni, Daniel Sidobre, Serena Ivaldi, Rachid Alami. KHAOS: a Kinematic Human Aware Optimization-based System for Reactive Planning of Flying-Coworker. IEEE International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9811803⟩. ⟨hal-03585262v2⟩

Antoine Milot, Estelle Chauveau, Simon Lacroix, Charles Lesire, Loïc Tacher. Autonomous and responsive multi-robot system for minehunting. OCEANS Conference & Exposition (OCEANS 2022), Feb 2022, Chennai, India. ⟨10.1109/OCEANSChennai45887.2022.9775467⟩. ⟨hal-03514510⟩

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. 6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States. ⟨hal-03680510v2⟩

Giulio Romualdi, Nahuel Alejandro Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse. Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03866027⟩

Anthony Favier, Shashank Shekhar, Rachid Alami. Robust Planning for Human-Robot Joint Tasks with Explicit Reasoning on Human Mental State. AI-HRI Symposium at AAAI Fall Symposium Series (FSS) 2022, Nov 2022, Arlington, United States. ⟨hal-03909319⟩

Roland Godet, Arthur Bit-Monnot. Chronicles for Representing Hierarchical Planning Problems with Time. ICAPS Hierarchical Planning Workshop (HPlan), Jun 2022, Singapore (Virtual), Singapore. ⟨hal-03690713⟩

Nicolas Binaud, Bertrand Tondu, Victor Le Guennic. Conception et développement d’un robot hexapode autonome à muscles artificiels en matériau à mémoire de forme. 25ème Congrès Français de Mécanique, Aug 2022, Nantes, France. ⟨hal-03881806⟩

Esteban Perrotin, Matthieu Roy, Ariane Herbulot, Michel Devy, Fabrice Bousquet. Towards the certification of vision based systems: modular architecture for airport line detection. 11th European Congress on Embedded Real-Time Systems, Jun 2022, Toulouse, France. ⟨hal-03717993⟩

Anthony Favier, Phani-Teja Singamaneni, Rachid Alami. An Intelligent Human Avatar to Debug and Challenge Human-aware Robot Navigation Systems. Late Breaking Report 2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI '22), Mar 2022, Sapporo, Japan. ⟨hal-03987659⟩

Eliott Lumet, Mélanie C. Rochoux, Simon Lacroix, Thomas Jaravel, Olivier Vermorel. Sensitivity analysis of microscale pollutant dispersion large-eddy simulations towards observation network design. 21st International Conference on Harmonisation within Atmospheric Dispersion Modelling for Regulatory Purposes, Sep 2022, Aveiro, Portugal. ⟨hal-04741946⟩

Jérémy Turi, Arthur Bit-Monnot. Extending a Refinement Acting Engine for Fleet Management. 34th IEEE International Conference on Tools with Artificial Intelligence (ICTAI), Oct 2022, Virtuelle, France. ⟨hal-03792874⟩

Andrea de Maio, Simon Lacroix. Deep Bayesian ICP Covariance Estimation. IEEE International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. pp.6519-6525, ⟨10.1109/ICRA46639.2022.9811899⟩. ⟨hal-03766231⟩

H. Pillet, Jérémie Begue, Teddy Caderby, Bruno Watier. Body center of mass to Minimal Moment Axis distance is determinant of age-related evolution in stepping. ESMAC 2022, European Society for Movement Analysis in Adults and Children – ESMAC, Sep 2022, Dublin (Ireland), Ireland. pp.S165-S166, ⟨10.1016/j.gaitpost.2022.07.108⟩. ⟨hal-04063530⟩

Younes Bouchiba, Juan Cortés, Thomas Schiex, Sophie Barbe. Computational Design of miniprotein binders. Journées Scientifiques du GDR ChemBio, Jun 2022, Toulouse, France. ⟨hal-04223586⟩

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Autonomous Navigation Strategy for Orchards Relying on Sensor-based Nonlinear Model Predictive Control. IEEE/ASME international conference on Advanced Intelligent Mechatronics (AIM), Jul 2022, Sapporo, Japan. ⟨10.1109/AIM52237.2022.9863243⟩. ⟨hal-03691877⟩

A Puig-Pey, A Sanfeliu, C Leroux, P Dario, R Rasso, et al.. A New Methodological Approach to Analyze Human Roles in Human-Robot Interaction Scenarios. IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2022), May 2022, Long Beach, CA, United States. ⟨10.1109/ARSO54254.2022.9802978⟩. ⟨hal-03758090⟩

Adrien Loiseau, Thibault Marsan, Pablo Navarro, Bruno Watier, Yann Landon. Optimizing racing wheelchair design through coupled biomechanical-mechanical simulation. International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing, Jun 2022, Ischia (NA), Italy. ⟨hal-03887092⟩

H Bildstein, A Durand-Petiteville, Viviane Cadenat. Visual Predictive Control Strategy for Mobile Manipulators. European Control Conference (ECC 2022), Jul 2022, Londres, United Kingdom. ⟨10.23919/ECC55457.2022.9838241⟩. ⟨hal-03696981⟩

Amandine Mayima, Aurélie Clodic, Rachid Alami. JAHRVIS, a Supervision System for Human-Robot Collaboration. 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022), Aug 2022, Napoli, Italy. ⟨10.1109/RO-MAN53752.2022.9900665⟩. ⟨hal-03702389⟩

Ewen Louis Dantec, Maximilien Naveau, Nicolas Mansard, Pierre Fernbach, Nahuel Villa, et al.. Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. ⟨hal-03724019v2⟩

Katia Katia Lillo, Andrea de Maio, Simon Lacroix, Amaury Nègre, Michèle Rombaut, et al.. DUNE: Deep UNcertainty Estimation for tracked visual features. IPAS 2022 - 5th IEEE International Conference on Image Processing, Applications and Systems (IPAS 2022), Dec 2022, Genova, Italy. ⟨10.1109/PRDC55274.2022.00021⟩. ⟨hal-03790281⟩

Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti. Introducing Force Feedback in Model Predictive Control. IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9982003⟩. ⟨hal-03594295v2⟩

T Marsan, A Loiseau, Y Landon, Bruno Watier. Comparing the weapon speed of French elite para-fencers. 47ème congrès de la Société de Biomécanique, Oct 2022, Monastir, Tunisia. ⟨hal-04278539⟩

Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse. Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨hal-03356261v2⟩

Esteban Perrotin, Matthieu Roy, Ariane Herbulot, Michel Devy, Fabrice Bousquet. Détection des lignes aéroportuaires par méthode hybride de filtrage particulaire et de réseaux de neurones. Congrès Reconnaissance des Formes, Image, Apprentissage et Perception (RFIAP 2022), Jul 2022, Vannes, France. ⟨hal-03788203⟩

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981586⟩. ⟨hal-03597630v5⟩

Olivier Hauterville, Camino Fernández, Phani-Teja Singamaneni, Anthony Favier, Vicente Matellán, et al.. Interactive Social Agents Simulation Tool for Designing Choreographies for Human-Robot-Interaction Research. ROBOT2022: Fifth Iberian Robotics Conference, Nov 2022, Zaragoza, Spain. ⟨10.1007/978-3-031-21062-4_42⟩. ⟨hal-03865658⟩

Helene Pillet, Xavier Bonnet, Amandine Boos, Lucas Sedran, Bruno Watier. Seeking for a better Human-Prosthesis energetic gait efficiency by quantifying both propulsion power and instability control. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Nov 2022, Ginowan, Japan. pp.566-571, ⟨10.1109/Humanoids53995.2022.10000069⟩. ⟨hal-04239299⟩

Adrien Vigné, Guillaume Sarthou. ROS pour Unreal Engine 4. roscon, Jun 2022, Toulouse, France. ⟨hal-03709712⟩

Adrien Vigné, Guillaume Sarthou, Ely Repiso, Aurélie Clodic. In which context are we interacting? A Context Reasoner for interactive and social robots. Artificial Intelligence for Social Robots Interacting with Humans in the Real World [intellect4hri], Oct 2022, Kyoto, Japan. ⟨hal-04183981⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. A complete framework for personalised modeling and control of children's cerebral palsy. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. pp.194-201, ⟨10.1109/Humanoids53995.2022.10000230⟩. ⟨hal-03876922⟩

Phani-Teja Singamaneni, Anthony Favier, Rachid Alami. Watch out! There may be a Human. Addressing Invisible Humans in Social Navigation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9982186⟩. ⟨hal-03865565⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Gait cycle modeling in cerebral palsy condition. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. pp.442-449, ⟨10.1109/Humanoids53995.2022.9999744⟩. ⟨hal-03876921⟩

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, et al.. Real time footstep planning and control of the Solo quadruped robot in 3D environments. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981539⟩. ⟨hal-03594629⟩

Jérémy Turi, Arthur Bit-Monnot. Guidance of a Refinement-based Acting Engine with a Hierarchical Temporal Planner. ICAPS Workshop on Integrated Planning, Acting, and Execution (IntEx), Jun 2022, Singapore (virtual), Singapore. ⟨hal-03690039⟩

Filip Becanovic, Jared Miller, Vincent Bonnet, Kosta Jovanovic, Samer Mohammed. Assessing the Quality of a Set of Basis Functions for Inverse Optimal Control via Projection onto Global Minimizers. IEEE 61st Conference on Decision and Control (CDC 2022), Dec 2022, Cancun, Mexico. pp.7598-7605, ⟨10.1109/CDC51059.2022.9993342⟩. ⟨hal-04063395⟩

Wilson Jallet, Nicolas Mansard, Justin Carpentier. Implicit Differential Dynamic Programming. International Conference on Robotics and Automation (ICRA 2022), IEEE Robotics and Automation Society, May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9811647⟩. ⟨hal-03351641v2⟩

Guilhem Buisan, Anthony Favier, Amandine Mayima, Rachid Alami. HATP/EHDA: A Robot Task Planner Anticipating and Eliciting Human Decisions and Actions. IEEE International Conference On Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9812227⟩. ⟨hal-03684211⟩

Gianluca Corsini, Martin Jacquet, Hemjyoti Das, Amr Afifi, Daniel Sidobre, et al.. Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case. The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981045⟩. ⟨hal-03716664v2⟩

Frédéric Lerasle, Joris Guérin, Kimberley Gaume. Optimisation conjointe du contenu sémantique et du temps d'exécution pour une tâche robotisée de saisie d'objet. Reconnaissance des Formes, Images, Apprentissage et Perception (RFIAP), Jul 2022, Vannes (Bretagne), France. ⟨hal-04490461⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan. ⟨10.1109/Humanoids53995.2022.1000008⟩. ⟨hal-03839963⟩

Nahuel A Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, et al.. Torque Controlled Locomotion of a Biped Robot with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03452196v2⟩

Olivier Hauterville, Camino Fernández, Phani-Teja Singamaneni, Anthony Favier, Vicente Matellán, et al.. IMHuS: Intelligent Multi-Human Simulator. IROS2022 Workshop: Artificial Intelligence for Social Robots Interacting with Humans in the Real World, Oct 2022, Kyoto, Japan. ⟨hal-03865622⟩

Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩. ⟨hal-03758989v2⟩

Philippe Hérail, Arthur Bit-Monnot. Learning Operational Models from Demonstrations: Parameterization and Model Quality Evaluation. ICAPS Hierarchical Planning Workshop (HPlan), Jun 2022, Singapore (virtual), Singapore. ⟨hal-03690025⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Spasticity model based on muscular activations using genetic algorithm. 47ème Congrès de la société de Biomécanique, Oct 2022, Monastir, Tunisia. ⟨hal-03778958⟩

Phani-Teja Singamaneni, Anthony Favier, Rachid Alami. Invisible Humans in Human-aware Robot Navigation. IEEE International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨hal-03696158⟩

Yang You, Vincent Thomas, Rachid Alami, Francis Colas, Olivier Buffet. Planification robuste pour la collaboration homme-robot. Journées Francophones Planification, Décision et Apprentissage (JFPDA), François Schwarzentruber, Jun 2022, Saint Etienne (FR), France. ⟨hal-03935200⟩

Ewen Louis Dantec, Michel Taix, Nicolas Mansard. First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. 2022 International Conference on Robotics and Automation (ICRA 2022), IEEE, May 2022, Philadelphie, PA, United States. ⟨hal-03419712v2⟩

Jérôme Truc, Daniel Sidobre, Rachid Alami. KHAOS improvements using BSpline. ICCAS - The International Conference on Cognitive Aircraft Systems, Jun 2022, Toulouse, France. ⟨hal-03699845⟩

Antoine Milot, Estelle Chauveau, Simon Lacroix, Charles Lesire Cabaniols. Allocation par enchères et planification hiérarchique pour un système multirobot, application au cas de la chasse aux mines. JFSMA 2022: 30èmes Journées Francophones sur les Systèmes Multi-Agents, Jun 2022, Saint-Etienne, France. ⟨hal-03694348⟩

Martin Jacquet, Antonio Franchi. Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.1818-1824, ⟨10.1109/IROS47612.2022.9981643⟩. ⟨hal-03597619v2⟩

Comptes rendus de conférences

Oscar Castro, Ely Repiso, Anaís Garrell, Alberto Sanfeliu. Classification of Humans Social Relations Within Urban Areas. Cham : Springer International Publishing, p. 27-39, 2022, 978-3-031-21065-5. ⟨hal-04205911⟩

Rapports

Louise Travé-Massuyès, Michel Devy. Rapport de synthèse n°6 - Projet COCOTIER. LAAS-CNRS. 2022. ⟨hal-03798439⟩

Pré-publications, documents de travail

Anthony Favier, Phani-Teja Singamaneni, Rachid Alami. Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System. 2022. ⟨hal-03684245⟩

Alessandro Assirelli, Fanny Risbourg, Gianni Lunardi, Thomas Flayols, Nicolas Mansard. Whole-Body MPC without Foot References for the Locomotion of an Impedance-Controlled Robot. 2022. ⟨hal-03778738⟩

Amit Parag, Nicolas Mansard. A Supervised Formulation of Reinforcement Learning: with super linear convergence properties. 2022. ⟨hal-03674092v2⟩

César Debeunne, Médéric Fourmy, Yann Labbé, Pierre-Alexandre Léziart, Guilhem Saurel, et al.. CosySlam: investigating object-level SLAM for detecting locomotion surfaces. 2022. ⟨hal-03351438v2⟩

Céline Pieters, Emmanuelle Damblon, Philippe Souères, Jean-Paul Laumond. Talking about moving machines: an argumentative perspective. 2022. ⟨hal-03768385⟩

Amit Parag, Vaishak Belle. Tractable Generative Modelling of Cosmological Numerical Simulations. 2022. ⟨hal-03744489⟩

Fabio Ardiani, Martin Mujica, Mourad Benoussaad, Alexandre Janot, Jean-Yves Fourquet. MESSII: a parameter identification dataset for KUKA IIWA collaborative manipulator. 2022. ⟨hal-03866427⟩

Isabelle Maroger, Manon Silva, Héléne Pillet, Nicolas A Turpin, Olivier Stasse, et al.. Does a Shared Strategy Emerge from the Study of Walking Paths during Collaborative Carriages?. 2022. ⟨hal-03713196⟩

Peter Schüller, João Paulo Costeira, James L. Crowley, Jasmin Grosinger, Félix Ingrand, et al.. Composing Complex and Hybrid AI Solutions. 2022. ⟨hal-03590739⟩

Noelie Ramuzat. On the semi-positive definition of the product of a positive diagonal matrix and a symmetric semi-positive definite matrix. 2022. ⟨hal-03434195v3⟩

Thèses / HDR soutenues

2024

Valentin Milia, Thèse: Couplage de modèles de chimie quantique et d'algorithmes haute performance pour l'exploration globale du paysage énergétique de systèmes atomiques et moléculaires

Philippe Hérail, Thèse: Apprentissage de Modèles Hiérarchiques par Démonstration pour la Planification et l'Action Délibérée

Anthony Favier, Thèse: Planification de tâches pour un robot collaboratif : théorie de l'esprit et anticipation des décisions et actions de l'humain

Jérémy Turi, Thèse: Planification à partir de modèles opérationnels pour l'action délibérée en robotique

Eliott Lumet, Thèse: Évaluation et réduction des incertitudes pour la simulation numérique de la dispersion atmosphérique à micro-échelle

2023

Michel Aractingi, Thèse: Contrôle de la locomotion des robots quadrupèdes à partir de méthodes d’apprentissage

Gianluca Corsini, Thèse: Méthodes de contrôle des systèmes robotiques aériens en interaction physique avec les humains

Gabriele Fadini, Thèse: Un cadre générique de co-conception pour l'optimisation du design et de la commande des robots

Javier González-Delgado, Thèse: Méthodes statistiques pour l'analyse structurale des protéines hautement flexibles

Karl Montalban, Thèse: Perception LiDAR dans des Environnements Visuels Dégradés : Une Approche Probabiliste pour l'Analyse de la Dégradation et l'Inférence de la Visibilité

Karl Montalban, Thèse: Perception LiDAR dans des Environnements Visuels Dégradés : Une Approche Probabiliste pour l'Analyse de la Dégradation et l'Inférence de la Visibilité

Thibaud Lasguignes, Thèse: Reconnaissance d’objets visant à la locomotion et à la manipulation par un robot humanoide dans un environnement industriel

Ewen Dantec, Thèse: Application de méthodes de contrôle prédictif corps complet à la locomotion bipède

Amit Parag, Thèse: Une formulation supervisée de l'apprentissage par renforcement avec convergence superlinéaire

Fanny Risbourg, Thèse: Contributions à la commande prédictive pour la marche des quadrupèdes sur terrain 3D

Jérôme Truc, Thèse: Planification et contrôle du mouvement d'un collaborateur volant en fonction de l'homme

2022

Phani Teja Singamaneni, Thèse: Combinaison de la planification proactive et de l'analyse de situation pour la navigation robotique adaptée à l'homme

Sabrina Otmani, Thèse: Étude de la modélisation de la spasticité et de l’interaction patient-exosquelette dans le cadre de la paralysie cérébrale de l’enfant

Antoine Milot, Thèse: Algorithmes et architecture pour le contrôle de l’exploration d’une zone par une flotte de sous-marins autonomes

Jason Chemin, Thèse: Apprentissage par renforcement d’une méthode de navigation pour la planification de contact de robots humanoïdes

Tristan Klempka, Thèse: Prédiction de déplacements de véhicules connectés en interaction pour la caractérisation de situations à risques

Pierre-Alexandre Léziart, Thèse: Contrôle de la locomotion d'un robot quadrupède léger

Isabelle Maroger, Thèse: Transport de charges homme-robot

Martin Jacquet, Thèse: Methodes pour contrôle prédictif en ligne de robots aeriens multi-rotors pour des tâches orientées perception et sujet à des contraintes capteurs/moteurs

Quentin Portes, Thèse: Analyse multimodale de situations conflictuelles en contexte véhicule

Aurélie Clodic, Habilitation à diriger des recherches: Théorie et pratique de l'interaction humain-robot

Dario Sanalitro, Thèse: Manipulation Coopérative Aérienne : manipulations de pose complètes, des scénarios sans contact aux scénarios avec contact

Mederic Fourmy, Thèse: Estimation d'état et localisation de robots à pattes : une approche étroitement couplée basée sur la maximisation a posteriori

Noelie Ramuzat, Thèse: Contrôle en force/couple pour des opérations industrielles

Alexis Nicolin, Thèse: Planification de tâches d'asservissement visuel en robotique

2021

Amandine Mayima, Thèse: Donner au Robot les Capacités de Contrôler et d'évaluer sa Contribution dans le cadre d'une Action Jointe Humain-Robot

Mahmoud Hamandi, Thèse: Effect of Actuation Properties of Multi-Rotor Aerial Vehicles on Their Abilities : Emphasis on Hoverability, Failure Robustness and Trajectory Tracking

Guillaume Sarthou, Thèse: Représentation et exploitation de la connaissance pour des robots interactifs et cognitifs

Claire Meymandi-Nejad, Thèse: Assistance à la navigation d'aéronefs dans les zones aéroportuaires par vision multi-spectrale

Guilhem Buisan, Thèse: Planifier pour le robot et l'humain : Anticiper et accompagner les décisions de l'humain

Dimitri Leca, Thèse: Navigation autonome d'un robot agricole

Yoan Sallami, Thèse: Modèles inspirés de la psychologie du développement pour le raisonnement physique et social dans le cadre de l'action jointe humain-robot

2020

Diane Bury, Thèse: Planification de tâches de manipulation pour robots parallèles à câbles

Camille Maurice, Thèse: Reconnaissance d'actions humaines dans des vidéos, en particulier lors d'interaction avec des objets

Rafael Bailon-Ruiz, Thèse: Conception d'un système de surveillance de feux de forêt avec une flotte de drones

Céline Pieters, Thèse: Les mots de la robotique : une approche rhétorique

Alejandro Estaña Garcia, Thèse: Algorithmes et outils informatiques pour l'étude des protéines intrinsèquement désordonnées

Emile Le Flecher, Thèse: Coordination des mouvements d'un système mobile bi-bras pour la réalisation de tâches complexes de navigation et de manipulation dans un environnement fortement dynamique

2019

Kevin Giraud--Esclasse, Thèse: Vers la génération d'un mouvement réactif basé sur un retour extéroceptif pour la locomotion généralisée de robots humanoïdes.

Rohan Budhiraja, Thèse: Locomotion Multi-corps : Structure du problème et résolution efficace

Kevin Desormeaux, Thèse: Modèles temporels du mouvement et des forces pour la manipulation Interactive Homme-Robot

Amelie Barozet, Thèse: Développement et évaluation de méthodes pour la modélisation de boucles protéiques : application aux boucles CDR d'anticorps

Christophe Reymann, Thèse: Missions d'observations pour des drones : définition et apprentissage de modèles pour la perception active, et proposition d'une architecture permettant des simulations distribuées répétables

Jessica Combier, Thèse: Conception et développement de composants logiciels et matériels pour un dispositif ophtalmique

2018

Mohammed Foughali, Thèse: Vérification Formelle des Modules Fonctionnels de Systèmes Robotiques et Autonomes

Francisco Rodolfo Barbosa-Anda, Thèse: Techniques d'optimisation pour la détection et ré-identification de personnes dans un réseau de caméras

William Gélard, Thèse: Modélisation 3D et suivi visuel pour caractériser le phénotype de variétés de tournesol

Florent Forget, Thèse: Modélisation et contrôle d'actionneurs pour la robotique humanoïde

Dinesh Atchuthan, Thèse: Vers de nouvelles capacités de perception pour les robotes à jambes à l'aide de l'estimation d'états temps réel avec des centrales inertielles à bas coût

Pierre Fernbach, Thèse: Modèles réduits fiables et efficaces pour la planification et l'optimisation de mouvement des robots à pattes en environnements contraints

Thomas Flayols, Thèse: Exploitation du Retour de Force pour l'Estimation et le Contrôle des Robots Marcheurs

Jules Waldhart, Thèse: UNE FORMULATION NOUVELLE ET DES SCHEMAS DE RESOLUTION POUR LA PLANIFICATION DE TACHES COLLABORATIVES HOMME-ROBOT

François Bailly, Thèse: Elements d'analyse et de description du mouvement humain et estimation d'état d'un robot humanoïde

Maud Jusot, Thèse: Description de l'espace conformationnel de peptides cycliques de la famille RGD par une approche inspirée de la robotique et par des simulations de dynamique moléculaire

Marco Tognon, Thèse: Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications

Thierry Sotiropoulos, Thèse: Test aléatoire de la navigation de robots dans des mondes virtuels

Mathieu Geisert, Thèse: Contrôle optimal et apprentissage automatique pour robots humanoïdes et aériens

Nicolas Staub, Thèse: Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens

2017

François-Xavier Decroix, Thèse: Apprentissage en ligne de signatures audiovisuelles pour la reconnaissance et le suivi de personnes au sein d’un réseau de capteurs ambiants

Nirmal Giftsun, Thèse: Manipulation de l'incertitude et de la variabilité dans le contrôle des robots

Nassime Blin, Thèse: Planification interactive de mouvement avec contact

Galo Maldonado, Thèse: Analyse et génération des mouvements hautement dynamiques des systèmes anthropomorphes : application au Parkour

Sandra Devin, Thèse: Processus décisionnels lors d'action conjointe homme-robot

Alexis Mifsud, Thèse: Estimation et stabilisation de l'état d'un robot humanoïde compliant

Harmish Khambhaita, Thèse: Navigation conviviale et partage de l’espace avec les hommes pour un robot interactif

Guilhem Saurel, Thèse: Génération de mouvement en robotique mobile et humanoïde

Justin Carpentier, Thèse: Computational foundations of anthropomorphic locomotion

Ellon Paiva Mendes, Thèse: Étude sur l'exploitation de la vision et d'un télémètre laser avec des modèles graphiques probabilistes appliqués au problème de la cartographie et localisation simultanées

Mylène Campana, Thèse: Planification de mouvements pour acteurs digitaux

Alexandre Boeuf, Thèse: Planification kinodynamique de mouvements pour des systèmes aériens de type quadrirotor

Laurent Denarie, Thèse: Méthodes inspirées de la robotique pour l’aide à la conception de protéines

Loïc Pierre Fagot-Bouquet, Thèse: Représenter pour suivre : exploitation de représentations parcimonieuses pour le suivi multi-objets

Joseph Mirabel, Thèse: Planification de mouvement pour objets documentés

2016

Ganesh Kumar Hari Shankar Lal Das, Thèse: Conception, modélisation et contrôle d'actionneurs intrinsèquement conformes avec une considération spéciale sur la configuration anthropomorphe agoniste-antagoniste

Ali Alhamwi, Thèse: Conception conjointe matériel-logiciel d'un système de vision temps réel sur FPGA pour la détection d'obstacles

Arthur Bit-Monnot, Thèse: Modèles temporels et hiérarchiques pour la planification et l'action en robotique

Daniel Tortei, Thèse: Adéquation algorithme-architecture pour la localisation de robot mobile et la détection basée modèle d'obstacles

François Brenot, Thèse: Application d'une méthodologie de co-design à la définition et à l'implémentation d'une chaîne SLAM opérationnelle

Michelangelo Fiore, Thèse: Processus décisionnels pour l'interaction homme-robot

Grégoire Milliez, Thèse: Raisonnement sur le contexte et les croyances pour l'interaction homme-robot

Christian Vassallo, Thèse: Utilisation de modèles inspirés de l'humain pour guider la locomotion des robots

Maximilien Naveau, Thèse: Stratégie de marche avancée et inspirée de l'être humain pour les robots humanoïdes

Raphaël Lallement, Thèse: Planification symbolique et géométrique pour des équipes de robots et d'Humains

Antonio Franchi, Habilitation à diriger des recherches: Méthodes pour le contrôle de robots mobiles avec des applications sur des systèmes multi-robots, le contrôle partagé et la robotique aérienne

Artur Maligo, Thèse: Modèles de mélange gaussien sans surveillance pour la classification des environnements extérieurs en utilisant des données 3D de lidar terrestre

2015

Renliw Fleurmond, Thèse: Asservissement visuel coordonné de deux bras manipulateurs

Christophe Mollaret, Thèse: Perception multimodale de l’homme pour l’interaction Homme-Robot

Elena Stumm, Thèse: Emplacement des modèles de reconnaissance visuelle de lieu

Bruno Watier, Habilitation à diriger des recherches: De l'analyse du mouvement in-vitro à la génération de mouvements des systèmes anthropomorphes

Alexandre Ravet, Thèse: Présentation de sensibilisation contextuelle dans le processus d'estimation d'état : Extension de Bayes filtres avec des distributions de temps hétérogènes dépendant du contexte

Lucas Marti, Thèse: Estimation de la posture humaine par capteur RGB-D

Olivier Roussel, Thèse: Planification de mouvement pour tiges élastiques

Andreas Orthey, Thèse: Exploiter la structure pour la planification de mouvement humanoïde

Guido Manfredi, Thèse: Modèle d'objets d'apprentissage et contexte de reconnaissance et de localisation

Mamoun Gharbi, Thèse: Raisonnement et planification géométrique dans le contexte de l'intéraction Homme-Robot

2014

Wassim Filali, Thèse: Détection temps réel de postures humaines par fusion d’images 3D

Didier Devaurs, Thèse: Extensions des méthodes de planification de chemin par échantillonnage dans des espaces de coût complexes : applications en robotique et en biologie structurale

Oscar Efrain Ramos Ponce, Thèse: Génération du mouvement du corps entier pour les robots humanoïdes avec la dynamique complets

Alhayat Ali Mekonnen, Thèse: Cooperative people detection and tracking strategies with a mobile robot and wall mounted cameras

LES NEWS DU DÉPARTEMENT

04.12.24 Gepetto se distingue à l'IEEE - RAS

12.11.24 Des robots plus vrais que nature ?

31.07.24 Le LAAS-CNRS étudie la mêlée pour le Stade Toulousain

PLUS D’ACTUS

L’AGENDA DU DÉPARTEMENT

14.03.24 - Projection de film éthique & robotique à Castelnaudary et rencontre avec Olivier Stasse

PLUS D’ÉVÈNEMENTS


LES AUTRES DÉPARTEMENTS

DU LAAS-CNRS

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LAAS-CNRS

7, av. du colonel Roche
BP 54200
31031 Toulouse cedex 4
France

GPS : 43.563545, 1.476923

Tél : (+33) 5 61 33 62 00

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Le LAAS-CNRS

est associé à 5 membres
de l'Université de Toulouse
Université<brToulouse'/>
Université Toulouse III Paul Sabatier (UPS)
Institut national<brdes sciences appliquées
de Toulouse
(INSA)'/>
Institut national<brpolytechnique
de Toulouse
(INPT)'/>
Université<brToulouse- Jean Jaurès
(UT2J)'/>
Université<brToulouse I Capitole
(UT1)'/>
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